ABB IRBP, Product Manual

Page: 291 / 334

Movements
The movements for the axis are performed around two configuration points as
described in the following figure. At each configuration, the maximum motion for
the axis is approximately 30 degrees up and 30 degrees down. The optimum value
for the configuration angle is 90 degrees.
30°
30°
90°
30°
30°
1
2
3
xx1000000142
Configuration 2 1
Configuration 1 (start position) 2
Configuration angle 3
Load identification for IRBP C
Load identification can be performed in positions according to load identification
service routine (
ManLoadIdentify ).
Note
The data entered when performing the load identification is the sum of the loads
applied. Load identification should be performed separately for all different load
scenarios that is used.
Parameters
The parameter identified is the total moments of inertia around the axis. Note that
the mass of the loads must be known in advance.
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Product manual - IRBP /D2009 291
3HAC037731-001 Revision: T
© Copyright 2010-2020 ABB. All rights reserved.
8 Calibration information
8.9.1 Identification of load data for positioners IRBP
Continued